End effector

ABSTRACT

A robotic system includes an end effector with one or more fin grippers that have one or more vacuum ports. The fin grippers are made of elastic material. The fin grippers each include contact and exterior flanges joined together with a series of crossbeams. The crossbeams each define a tube opening to form a tube guide channel between the contact and exterior flanges. In one form, the vacuum ports are located at fingertip ends of the fin grippers, and the vacuum ports include vacuum cups.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/205,367, filed Nov. 30, 2018, which is hereby incorporated byreference. U.S. patent application Ser. No. 16/205,367, filed Nov. 30,2018, claims the benefit of U.S. Patent Application No. 62/593,779,filed Dec. 1, 2017, which are hereby incorporated by reference.

BACKGROUND

The present disclosure relates to robotics, and more particularly torobotic arms and attachments thereof.

The robotics industry includes robotic arms that are capable of manydegrees of freedom. These arms are often used to perform tasks that arerepetitive or dangerous for a person. For example, a robotic arm may betasked with industrial welding, such as in an automobile factory. Inanother example, a robotic arm may load a machine with parts, such asblanks for a CNC mill. In another example, an arm may be tasked withmoving objects from one location to another.

In performing these tasks, the robotic arm will often be required todexterously interact with objects. To achieve the needed level ofdexterity, an additional apparatus, such as an end effector, is oftenpaired with the robotic arm. End effectors are typically chosen to bestsuit the task that the robotic arm will perform. For example, an endeffector may have two fingers that can open and close, thus enabling therobotic arm to pick up the object. Typically, these fingers arefashioned from rigid materials and move in predefined opening or closingpaths.

Automated Guided Vehicles (“AGVs”) are currently being used in industryto move goods through warehouse systems. AGVs are often electrical innature, using electric motors connected to wheels to traverse awarehouse environment. Some embodiments of AGVs are automated versionsof traditionally non-automated vehicles, such as fork lifts. Otherembodiments are designed from the beginning for autonomous operation.AGVs often use vision systems, such as lidar, coupled with a computingsystem to create a digital representation of the space surrounding it.

Thus, there is a need for improvement in this field.

SUMMARY

A unique end effector or end of arm tool (EoAT) has been developed thatcan be used on an Automated Mobile Unit (AMU) such as a robotic shuttle.The EoAT includes a combination of a fin gripper with strategicallyplaced vacuum cups. In particular, the EoAT includes three fin grippers,an extendable palm vacuum cup, fingertip vacuum cups placed at the endsof the fin grippers, and inside finger digit vacuum cups. This uniquecombination allows the EoAT to pick a wide variety of items both largeand small as well as those that are difficult to handle. In particular,the system allows individual products to be picked up via the fingrippers, a vacuum pickup followed by using the grippers, a singlegripping option where the finger tips on the ends of the fins are usedalone, a multi-tip configuration in which the vacuum cups at the end ofthe tips are brought closer together and all of them are used to pick upthe individual products, and a single finger adjacent picking up usingthe inside. Of course, there other ways in which the EoAT can pick ormanipulate items. While the illustrated example includes three fingrippers, other examples can include more or less of them.

Aspect 1 generally concerns a system that includes a end effectorincluding one or more fin grippers having one or more vacuum ports.

Aspect 2 generally concerns the system of any previous aspect in whichthe vacuum ports are located at fingertip ends of the fin grippers.

Aspect 3 generally concerns the system of any previous aspect in whichthe vacuum ports include vacuum cups.

Aspect 4 generally concerns the system of any previous aspect in whichthe vacuum ports are located on interior surfaces of the fin grippers.

Aspect 5 generally concerns the system of any previous aspect in whichthe fin grippers are made of elastic material.

Aspect 6 generally concerns the system of any previous aspect in whichthe fin grippers each include contact and exterior flanges joinedtogether with a series of crossbeams.

Aspect 7 generally concerns the system of any previous aspect in whichthe contact and exterior flanges are joined together and extend at anacute angle from a fingertip.

Aspect 8 generally concerns the system of any previous aspect in whichthe fin grippers have an asymmetric shape.

Aspect 9 generally concerns the system of any previous aspect in whichthe contact flange is straight and the exterior flange is curved.

Aspect 10 generally concerns the system of any previous aspect in whichthe crossbeams each define a tube opening to form a tube guide channelbetween the contact and exterior flanges.

Aspect 11 generally concerns the system of any previous aspect in whichthe finger grippers have a vacuum port support bracket at the fingertip.

Aspect 12 generally concerns the system of any previous aspect in whichthe end effector includes a pneumatic sensor manifold configured tosense the vacuum applied by the vacuum cups.

Aspect 13 generally concerns the system of any previous aspect in whichthe end effector includes a controller configured to receive pressuredata from the pneumatic sensor manifold.

Aspect 14 generally concerns the system of any previous aspect in whichthe end effector includes one or more tubes connecting the pneumaticsensor manifold and the vacuum cups.

Aspect 15 generally concerns the system of any previous aspect in whichthe fin grippers define one or more vacuum tube guide channels in whichthe tube extends inside the fin grippers.

Aspect 16 generally concerns the system of any previous aspect in whichthe end effector includes an actuator configured to actuate the fingrippers.

Aspect 17 generally concerns the system of any previous aspect in whichthe actuator includes a linkage drive and one or more linkages coupledbetween the fin grippers and the drive.

Aspect 18 generally concerns the system of any previous aspect in whichthe actuator includes a motor and a gearbox operatively connectedbetween the motor and linkage drive.

Aspect 19 generally concerns the system of any previous aspect in whichthe actuator includes a threaded drive shaft and a linkage platethreadedly connected to the drive shaft.

Aspect 20 generally concerns the system of any previous aspect in whichthe end effector includes a hub with a palm plate to which the fingrippers are pivotally coupled.

Aspect 21 generally concerns the system of any previous aspect in whichthe vacuum cups includes an extendable palm vacuum cup configured toextend from the palm plate.

Aspect 22 generally concerns the system of any previous aspect in whichthe end effector has one or more sensors coupled to the palm plate.

Aspect 23 generally concerns the system of any previous aspect in whichthe sensors include a vision system sensor.

Aspect 24 generally concerns a fin gripper including a series ofcrossbeams with tube openings to form a tube guide channel.

Aspect 25 generally concerns a method of gripping a first object withfin grippers of an EoAT and securing a second object with vacuum ports.

Aspect 26 generally concerns a finger that includes a top side, a bottomside, a first end, and a second end. The top side includes asemicircular portion spanning between the first end and the second endof the finger. A first vacuum port is formed within the first end. Asecond vacuum port is formed within the second end. A vacuum ductconnects the first vacuum port to the second vacuum port, formed withinthe semicircular portion.

Aspect 27 generally concerns the finger of any previous aspect in whichthe finger includes an elastomeric material.

Aspect 28 generally concerns the finger of any previous aspect whichincludes one or more bands spanning a distance between the top side andthe bottom side.

Aspect 29 generally concerns the finger of any previous aspect in whichthe finger further includes a third vacuum port formed within the bottomside and connected to the vacuum duct.

Aspect 30 generally concerns the finger of any previous aspect in whichthe finger further includes a check valve positioned between the vacuumduct and the second vacuum port.

Aspect 31 generally concerns the finger of any previous aspect in whichthe finger further includes a pivot opening and an actuator connectionportion both formed into the first end.

Aspect 32 generally concerns an end effector that includes a firstfinger and a second finger. The first finger has a first end and asecond end. The first finger includes a first vacuum port, a secondvacuum port, and a vacuum duct connecting the first and second vacuumports. The first end of the first finger is pivotally mounted to a hub.The second finger has a first end and a second end. The second fingerincludes a first vacuum port, a second vacuum port, and a vacuum ductconnecting the first and second vacuum ports. The first end of thesecond finger is pivotally mounted to the hub.

Aspect 33 generally concerns the end effector of any previous aspectthat further includes a first motor, a first actuator linkage, and asecond actuator linkage. The first actuator linkage is connected to thefirst end of the first finger, and the first actuator linkage isconnected to the first motor. The second actuator linkage is connectedto the first end of the second finger, and the second actuator linkageis connected to the first motor.

Aspect 34 generally concerns the end effector of any previous aspectthat further includes a third finger. The third finger has a first endand a second end. The third finger includes a first vacuum port, asecond vacuum port, and a vacuum duct connecting the first and secondvacuum ports. The first end of the third finger is pivotally mounted tothe hub. A third actuator linkage is connected to the first end of thethird finger, and the third actuator linkage is connected to the firstmotor.

Aspect 35 generally concerns the end effector of any previous aspectthat further includes an extendable vacuum projection mountedsubstantially within the hub.

Aspect 36 generally concerns the end effector of any previous aspectthat further includes a second motor. The second motor is connected tothe extendable vacuum projection.

Aspect 37 generally concerns the end effector of any previous aspect inwhich the hub is configured to connect to a robotic arm.

Aspect 38 generally concerns the end effector of any previous aspect inwhich the first finger includes an elastomeric material.

Further forms, objects, features, aspects, benefits, advantages, andembodiments of the present invention will become apparent from adetailed description and drawings provided herewith.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a perspective view of an embodiment of an end effector.

FIG. 2 shows a side view of the end effector of FIG. 1.

FIG. 3 shows a side view of the end effector of FIG. 1 in a closedposition.

FIG. 4 shows an exploded perspective view of the end effector of FIG. 1.

FIG. 5 shows an exploded side view of the end effector of FIG. 1.

FIG. 6 shows a perspective view of one embodiment of a finger that maybe used with an end effector.

FIG. 7 shows a side view of the finger of FIG. 6.

FIG. 8 shows a cutaway side view of the finger of FIG. 6.

FIG. 9 shows a cutaway end view of the finger of FIG. 6.

FIG. 10 shows a cutaway end view of the finger of FIG. 6, with a vacuumconnector and a check valve.

FIG. 11a shows a front perspective view of a finger.

FIG. 11b shows a side perspective view of a finger.

FIG. 12 shows an end effector connected to a robotic arm.

FIG. 13 shows an end effector connected to a robotic arm and mounted onan AGV.

FIG. 14 is a top perspective view of an end effector.

FIG. 15 is a bottom perspective view of the FIG. 14 end effector.

FIG. 16 is a top view of the FIG. 14 end effector.

FIG. 17 is a top perspective view of the FIG. 14 end effector with thehousing removed.

FIG. 18 is a top view of the FIG. 14 end effector with the housingremoved.

FIG. 19 is a top perspective view of the FIG. 14 end effector withselected components removed to view the actuator.

FIG. 20 is a bottom perspective view of the FIG. 14 end effector withselected components removed to view the gearbox of the actuator.

FIG. 21 is a side view of a fin gripper found in the FIG. 14 endeffector.

FIG. 22 is a rear view of the FIG. 21 fin gripper.

FIG. 23 is a front view of the FIG. 21 fin gripper.

FIG. 24 is a cross-sectional view of the FIG. 21 fin gripper as takenalong line 24-24 in FIG. 23.

DETAILED DESCRIPTION OF SELECTED EMBODIMENTS

In the following description, reference is made to the accompanyingdrawings that form a part thereof, which is shown by way of illustrationof specific exemplary embodiments in which the invention may bepracticed. These embodiments are described in sufficient detail toenable those skilled in the art to practice the invention, and it is tobe understood that modifications to the various disclosed embodimentsmay be made, and other embodiments may be utilized, without departingfrom the spirit and scope of the present invention. The followingdetailed description is, therefore, not to be taken in a limiting sense.

For the purpose of promoting an understanding of the principles of theinvention, reference will now be made to the embodiments illustrated inthe drawings and specific language will be used to describe the same. Itwill nevertheless be understood that no limitation of the scope of theinvention is thereby intended. Any alterations and further modificationsin the described embodiments, and any further applications of theprinciples of the invention as described herein are contemplated aswould normally occur to one skilled in the art to which the inventionrelates. One embodiment of the invention is shown in great detail,although it will be apparent to those skilled in the relevant art thatsome features that are not relevant to the present invention may not beshown for the sake of clarity.

FIG. 1 shows a perspective view of an end effector 100. The end effector100 includes a first finger 110, a second finger 120, and a third finger130, each pivotally connected to a hub 140. FIG. 2 shows a side view ofthe end effector 100 with the fingers 110, 120, 130 in an open position.FIG. 3 shows a side view of the end effector 100 with the fingers 110,120, 130 in a closed position. FIGS. 4 and 5 show exploded perspectiveviews of the end effector 100.

As shown in FIGS. 1, 2, 3, 4, and 5, the first finger 110 is pivotallyconnected to the hub 140 with shaft 113 and to a first actuator linkage112 at its proximal end (best shown in FIG. 4). The second finger 120 ispivotally connected to the hub 140 with shaft 123 and is connected to asecond actuator linkage 122, and the third finger 130 is pivotallyconnected to the hub 140 with shaft 133 and is connected to a thirdactuator linkage 132. Each finger 110, 120, 130 includes a port 114,124, 134, respectively, that may be connected to a vacuum source, aswell as cross beams 115, 125, 135 connecting the top of the finger withthe bottom. Additionally, in the embodiment shown, each finger includesan elastomeric pad 118, 128, 138 and vacuum ports 117, 127, 137 on thebottom side of the finger, as well as a vacuum port 119, 129, 139 at thedistal end. An extendable vacuum projection 150 is positioned within thehub 140. The extendable vacuum projection 150 may be connected to avacuum source.

The end effector 100 further includes a first motor 160 and a secondmotor 170. First motor 160 may be connected to actuator linkages 112,122, and 132. Second motor 170 may be connected to the extendable vacuumprojection 150.

Though the end effector embodiment in FIGS. 1, 2, 3, and 4 illustratesan end effector with three fingers, an end effector may include more orfewer finger. For example, an end effector that is substantially similarto end effector 100 may include two finger or four fingers or more, aswould be understood by one of ordinary skill in the art.

FIG. 6 shows a perspective view of one embodiment of a finger 200 thatmay be used with an end effector, such as the end effector 100 shown inFIG. 1. FIG. 7 shows a side view of the finger 200. As shown in FIGS. 6and 7, the finger 200 has a top side 230 and a bottom side 240. Crossbeams 250 span the distance from the top side 230 to the bottom side240. At a proximal end 210 of the finger 200, a pivot opening 211 isformed into a side, which may mate with a shaft, such as shaft 113 shownin FIG. 1. Additionally, an actuator connection portion 214 is formedinto another side of the finger 200. A first vacuum port 216 is shownabove the actuator connection portion 214. A second vacuum port 226 withan elastomeric flare 224 is shown at distal end 220 of the finger 200.The finger 200 further includes an elastomeric pad 228.

FIG. 8 shows a cutaway side view of the finger 200. As shown in FIG. 8,a vacuum duct 236 runs along the top side 230 of the finger 200, fromthe first vacuum port 216 to the second vacuum port 226. A first sidevacuum port 246 and a second side vacuum port 256 are also shown and areconnected to the vacuum duct 236. Though the finger 200 shown in FIGS.6, 7, and 8 includes three vacuum ports 226, 246, and 256 at the distalend 220 of the finger 200, the finger 200 may include a smaller orgreater number of vacuum ports, as would be understood by one ofordinary skill in the art. For example, an embodiment of a finger mayinclude a single side vacuum port. In another example, an embodiment ofa finger may include three side vacuum ports.

FIG. 9 shows a cutaway end view of a finger 300. As shown, finger 300includes a vacuum duct 336 within a semicircular portion 332. Thesemicircular portion of the finger 300 may substantially span thedistance between a proximal and a distal end. In addition to containingthe vacuum duct 336, the semicircular portion 332 may increase therigidity and stability of the finger 300.

FIG. 10 shows a cutaway end view of a finger 400, which may be similarto the finger 200 shown in FIG. 2. As shown, finger 400 includes a checkvalve 438 separating a vacuum duct 436 from a vacuum port 456. Checkvalve 438 may substantially restrict flow between vacuum duct 436 tovacuum port 456 when a vacuum source is attached to vacuum duct 436.Upon covering vacuum port 456, such as with an object, the check valve438 may reduce its restriction.

Material used to form fingers 200, 300, or 400, for example, may besubstantially elastomeric, enabling fingers 200, 300, 400 to flex,twist, or to conform to another shape when sufficient pressure isapplied. FIGS. 11a and 11b show a front perspective and side perspectiveview of an embodiment of a finger 500 made with a substantiallyelastomeric material. As shown, sufficient pressure has been applied tothe finger 500, causing the finger 500 to flex or conform along thelength or width of the finger 500. In practice, FIGS. 11a and 11b mayrepresent the finger 500 being positioned to contact an object, with thefinger 500 substantially conforming to the shape of the object aspressure is applied, advantageously increasing the contact area and thusfriction. When used within an end effector, such as, for example, theend effector 100, increased contact area and friction will typicallyenable a better grip.

Referring again to FIGS. 1, 2, 3, 4, and 5 end effector 100 can be usedto grip or control an object by closing one or more of fingers 110, 120,130 on the object, by using a vacuum port, such as vacuum ports 117,119, 127, 129, 137, 139, or by using a combination thereof.

In a first example, end effector 100 may be used to grip an object withfingers 110, 120, 130 by activating first motor 160, moving actuatorlinkages 112, 122, 132 such that the fingers 110, 120, 130 pivot aboutshafts 113, 123, 133, thus closing around the object. Finger 110, 120,130 may substantially conform to the shape of the object as they close.Though this example is described using three fingers, two fingers may beused, as one of ordinary skill in the art would understand.

In a second example, end effector 100 may be used to secure an objectwith a single finger, such as finger 110, by moving the finger 110 tosubstantially contact an object with vacuum port 119, creating a vacuumbetween finger 110 and the object, thus securing the object to the endeffector 100.

In a third example, end effector 100 may be used to secure an objectwith a plurality of fingers, such as fingers 110, 120, 130, by movingthe fingers 110, 120, 130 to substantially contact an object with vacuumports 119, 129, 139, creating a vacuum between fingers 110, 120, 130 andthe object, thus securing the object to the end effector 100.

In a fourth example, end effector 100 may be used to secure an objectwith a single finger, such as finger 110, by moving the finger 110 tosubstantially contact an object with one or more side vacuum ports, suchas one or more of side vacuum ports 117, creating a vacuum betweenfinger 110 and the object, thus securing the object to the end effector100.

In a fifth example, end effector 100 may be used to secure an objectwith an extendable vacuum projection, such as extendable vacuumprojection 150, by moving extendable vacuum projection 150, such as byactuating second motor 170, to substantially contact an object, creatinga vacuum between extendable vacuum projection 150 and the object, thussecuring the object to the end effector 100.

In a sixth example, end effector 100 may be used to secure an objectwith fingers 110, 120, 130 by activating first motor 160, extendingactuator linkages 112, 122, 132 such that the fingers 110, 120, 130pivot about shafts 113, 123, 133, thus closing finger 110, 120, 130 onthe object, bringing side vacuum ports 117, 127, 137 in contact with theobject, creating a vacuum between the object and fingers 110, 120, 130.Additionally, extendable vacuum projection 150 may be extended from hub140 to contact the object, creating a vacuum between extendable vacuumprojection 150 and the object. The combination of pressure from thefingers 110, 120, 130 and vacuum ports 117, 127, 137, 150 secures theobject to the end effector 100.

FIG. 12 shows an embodiment of an end effector 600 connected to arobotic arm 550. Robotic arm 550 may have six degrees of freedomallowing it to position end effector 600 in any position within thereach of the robotic arm 550. For example, robotic arm 550 may positionthe end effector 600 near an object such that the end effector 600 maygrip, secure, or control the object, thereafter moving the object,secured to the end effector 600, to another location.

FIG. 13 shows an embodiment of the end effector 600 connected to arobotic arm 650, which is additionally connected to a vehicle 690, suchas an AGV. Robotic arm 650 may have six degrees of freedom allowing itto position end effector 600 in any position within the reach of therobotic arm 650. For example, robotic arm 650 may position the endeffector 600 near an object such that the end effector 600 may grip,secure, or control the object, thereafter moving the object, secured tothe end effector 600, to another location, such as to a portion of thevehicle 690. Vehicle 690 may move from a first position to a secondposition with the object. Thereafter, the end effector 600 and roboticarm 650 may reverse the process to move the object from the portion ofthe vehicle 690, placing it at or near the second position.

An end effector 1400 according to another example will be initiallydiscussed with reference to FIGS. 14, 15, and 16. The end effector 1400shares a number of features and operates in a similar fashion as thepreviously described end effectors. For example, the end effector 1400can be used on the robotic arm 650 and vehicle 690 shown in FIG. 13. Forthe sake of brevity as well as clarity, these common features andfunctions will not be described again in great detail, but please referto the earlier discussion of these features and functions.

As shown in FIG. 14, the end effector 1400 includes a hub 1405 and oneor more fingers 1408 pivotally coupled to the hub 1405. In theillustrated example, the fingers 1408 are fin grippers 1410. The fingrippers 1410 are generally made of an elastic and/or soft material thatallows the fin grippers 1410 to deform to generally conform to the shapeof the gripped object. The end effector 1400 further has an actuator1415 configured to actuate the fingers 1408. At the end, each of the fingrippers 1410 include at least one vacuum port 1420 with one or morevacuum cups 1425. The end effector 1400 further includes a pneumaticsensor manifold 1430 that is able to sense the vacuum (i.e., lowpressure) supplied to the vacuum cups 1425 and a controller 1435 thatcontrols the operation of the end effector 1400. As can be seen, the hub1405 is covered by a housing 1440.

This unique design allows the end effector 1400 to pick a wide varietyof items, both large and small as well as those difficult to handle.Again, the fingers 1408 in the illustrated example are in the form offin grippers 1410 that are made of an elastic material, such as plasticand/or rubber (natural or synthetic). Via the actuator 1415, the endeffector 1400 is able to open and close the fin grippers 1410 togetherto grip various objects. The fin grippers 1410 are deformable such thatthe end effector 1400 is able to grip a wide variety of objects withdifferent shapes and other physical characteristics without losing gripof the objects. For smaller objects, the end effector 1400 supplies avacuum to one or more of the vacuum cups 1425 at the tips of the fingrippers 1410 so as to pick up the object via suction. For example, thevacuum cup 1425 of a single fin gripper 1410 can be used to pick up asingle item. The actuator 1415 can be used to close the fin grippers1410 together such that the vacuum port 1420 at the fingertips of thefin grippers 1410 can be used together to pick or place objects viasuction. Of course, there are other ways in which the end effector 1400can pick and/or manipulate items.

Turning to FIGS. 15 and 16, the end effector 1400 includes a palm plate1505 to which the fin grippers 1410 are pivotally attached to the hub1405 such as via pins, rods, axles, and the like. In the illustratedexample, the palm plate 1505 has one or more sensors 1510 to sense theobjects being handled as well as environmental conditions. In one form,the sensor 1510 includes a vision system for visualizing the objects.

FIGS. 17 and 18 show perspective and top views of the end effector 1400with the housing 1440 removed from the hub 1405. As can be seen, thecontroller 1435 includes a circuit board 1705 with electronicsprogrammed to control the end effector 1400. A data cable 1710 isconnected to the circuit board 1705. The data cable 1710 allows thecontroller 1435 to communicate with the robotic arm 650 as well as therest of the vehicle 690. Through the data cable 1710 the vehicle 690 isable to control the end effector 1400. Alternatively or additionally, awireless type connection can be used to communicate with the controller1435.

The pneumatic sensor manifold 1430 includes a vacuum supply port 1715that is configured to connect with a vacuum supply line from the roboticarm 650 and/or the vehicle 690. The pneumatic sensor manifold 1430includes one or more pressure sensors 1720 for sensing the vacuum orsuction supplied to the vacuum cups 1425. By sensing the pressure at thevacuum cups 1425 with the pressure sensors 1720, the controller 1435 isable to determine whether or not the object is properly secured to thevacuum cups 1425. For instance, when the pressure sensor 1720 senses avacuum or low pressure at one of the vacuum cups 1425, the controller1435 infers that the manipulated object is adequately secured to thevacuum cup 1425. On the other hand, when the pressure sensor 1720 sensesatmospheric or near atmospheric pressure (i.e., no or little vacuum),the controller 1435 determines that the object is not properly securedto the vacuum cup 1425. This ability to sense pressure at the vacuumports 1420 allows the end effector 1400 to pick up and manipulaterelatively small and/or difficult to handle objects that are not easilygripped by the fin grippers 1410 with the vacuum ports 1420. In oneexample, the number of pressure sensors 1720 corresponds to the numberof vacuum ports 1420 so that the vacuum cups 1425 can be individuallymonitored, but in other examples, the pneumatic sensor manifold 1430 caninclude more or less pressure sensors 1720 such that a single pressuresensor 1720 for example monitors the pressure at more than one of thevacuum cups 1425. In the illustrated example, each pressure sensor 1720has one or more sensor cables 1725 that are operatively connected to thecontroller 1435. Through the sensor cables 1725 the controller 1435 isable to determine the pressure at the vacuum ports 1420.

As depicted, the actuator 1415 includes a motor 1730, a gearbox 1735operatively connected to the motor 1730, and a linkage drive 1740operatively connected to the gearbox 1735. Through the linkage drive1740, the motor 1730 is able open, close, or otherwise move the fingrippers 1410. The linkage drive 1740 includes a linkage plate 1745. Ascan be seen, one or more linkages 1750 are connected between the fingrippers 1410 and the linkage plate 1745. Movement of the linkage plate1745 causes the linkages 1750 to move which in turn causes the fingrippers 1410 to pivot relative to the palm plate 1505. In one form, thelinkages 1750 are threaded so as to adjust their relative length inorder to adjust the relative position of the fin grippers 1410.

Looking at FIGS. 19 and 20, the linkage drive 1740 in the actuator 1415further includes a drive shaft 1905 that is configured to move thelinkage plate 1745 via a drive plate 1910. The drive plate 1910 issecured to the linkage plate 1745 such as via fasteners. In one form,the drive shaft 1905 is a threaded shaft and the drive plate 1910 isthreadedly engaged to the drive shaft 1905. The motor 1730 through thegearbox 1735 rotates the drive shaft 1905 so as to cause the linkageplate 1745 to move. The linkage drive 1740 further includes one or moreguide rods 1915 that guide and prevent rotation of the linkage plate1745 and the drive plate 1910 while the drive shaft 1905 rotates. Theends of the guide rods 1915 are coupled together with an end bearingbracket 1920. The end bearing bracket 1920 has one or more bearings orbushings that engage one end of the drive shaft 1905 to allow the driveshaft 1905 to rotate. Proximal to the gearbox 1735, the linkage drive1740 has a motor bearing bracket 1925 with bearings that are coupled tothe other end of the drive shaft 1905 to allow the drive shaft 1905 torotate. As shown, the motor bearing bracket 1925 further supports themotor 1730.

As shown in FIG. 20, the gearbox 1735 includes one or more gears 2005that transfer power from the motor 1730 to the drive shaft 1905. In thedepicted example, the gears 2005 include a motor gear 2010 connected tothe output shaft of the motor 1730, a drive gear 2015 connected to thedrive shaft 1905, and an idler gear 2020 connected between the motorgear 2010 and the drive gear 2015. Through these gears 2005, the motor1730 is able to rotate the drive shaft 1905. Rotation of the drive shaft1905 in turn causes the drive plate 1910 and the linkage plate 1745 tomove along the guide rods 1915. This movement of the linkage plate 1745results in the pivotal movement of the fin grippers 1410 through thelinkages 1750 so as to open, close, or otherwise move the fin grippers1410.

As noted before, the fin grippers 1410 by being made of deformablematerial are designed to grab a wide variety of objects. Turning to FIG.21, the fin gripper 1410 has a hub end 2102 and a fingertip end 2103.Extending between the hub end 2102 and the fingertip end 2103, the fingripper 1410 has a contact flange 2105 where gripped objects contact thefin gripper 1410 and an exterior flange 2110. The fin gripper 1410 isV-shaped in which the contact flange 2105 and exterior flange 2110extend at an acute angle relative to one another from the fingertip end2103.

To make sure the fingertip end 2103 of the fin gripper 1410 bends in onedirection (i.e., in a radial inward direction) so that the fingertip end2103 grips underneath the object, the fin gripper 1410 has an asymmetricshape. In the depicted example, the exterior flange 2110 curves towardthe fingertip end 2103 to give the fin gripper 1410 a shark fin overallshape. One or more cross beams 2115 extend between the contact flange2105 and the exterior flange 2110. Gaps are formed between the crossbeams 2115 that allow the cross beams 2115 to deform as the object isgripped.

At the hub end 2102, the fin gripper 1410 has a hub opening 2120 wherethe fin gripper 1410 is pivotally connected to the hub 1405 for examplevia a pin, screw, and the like. The hub end 2102 further has a linkageopening 2125 where the linkage 1750 is coupled to the fin gripper 1410for example via a pin, screw, and the like. Between the hub opening 2120and the linkage opening 2125, the fin gripper 1410 at the hub end 2102has a hub end flange 2130. As can be seen, the fin gripper 1410 at thefingertip end 2103 has vacuum port support bracket 2135 configured tosupport and receive the vacuum port 1420. To provide stiffness at thefingertip end 2103 so as to support the vacuum port 1420, the fingripper 1410 has a solid tip section 2140.

Looking at FIG. 22 the hub end flange 2130 at the hub end 2102 has alinkage notch 2205 where the linkage 1750 is secured to the fin gripper1410. The fin gripper 1410 further has in the hub end flange 2130 a hubvacuum port opening 2210 that is configured to receive a tube thatconnects the vacuum port 1420 at the fingertip end 2103 to the pressuresensor 1720 at the pneumatic sensor manifold 1430. Referring to FIG. 23,the fin gripper 1410 at the fingertip end 2103 has a vacuum port opening2305 in the vacuum port support bracket 2135 configured to receive atleast a portion of the vacuum port 1420. The fin gripper 1410 at thefingertip end 2103 further has a fingertip port notch 2310 for receivinga portion of the vacuum port 1420.

FIG. 24 shows a cross-sectional view of the fin gripper 1410 as takenalong line 24-24 in FIG. 23. As can be seen, the fin gripper 1410defines a vacuum tube guide channel 2405 from the hub vacuum portopening 2210 to the vacuum port opening 2305. The vacuum tube guidechannel 2405 is formed by a series of tube openings 2410 defined in thecross beams 2115. The vacuum tube guide channel 2405 is shaped toreceive and support a tube 2415 from the pneumatic sensor manifold 1430that supplies a vacuum or suction to the vacuum cup 1425 via the vacuumport 1420. The tube 2415 is typically, but not always, made whole or inpart from a bendable or elastic material such as in the form of aplastic tube. With the vacuum tube guide channel 2405 disposed insidethe fin gripper 1410, the tube 2415 is generally protected.

The end effector 1400 is able to pick a wide variety of items both largeand small as well as those that are difficult to handle. In particular,the end effector 1400 allows individual products to be picked up via thefin grippers 1410, a vacuum pickup followed by using the fin grippers1410, a single gripping option where the finger tips on the ends of thefin grippers 1410 are used alone, a multi-tip configuration in which thevacuum cups 1425 at the end of the tips are brought closer together andall of them are used to pick up the individual products, and a singlefinger adjacent picking up using the inside. Of course, there other waysin which the end effector 1400 can pick or manipulate items.

Glossary of Terms

The language used in the claims and specification is to only have itsplain and ordinary meaning, except as explicitly defined below. Thewords in these definitions are to only have their plain and ordinarymeaning. Such plain and ordinary meaning is inclusive of all consistentdictionary definitions from the most recently published Webster'sdictionaries and Random House dictionaries. As used in the specificationand claims, the following definitions apply to these terms and commonvariations thereof identified below.

“Acute” or “Acute Angle” generally refers to an angle smaller than aright angle or less than 90 degrees.

“Asymmetric” or “Asymmetrical” generally refers to a property ofsomething having two sides or halves that are different from oneanother, such as in shape, size, and/or style. In other words,asymmetric describes something lacking a mirror-image quality.

“Automated Guided Vehicle” (AGV) or “Autonomous Mobile Unit” (AMU)generally refers to a mobile robot that is able to automaticallyself-navigate between various locations. For example, AGVs aretypically, but not always, able to automatically navigate by followingmarkers, such as wires or magnets embedded in the floor, by usinglasers, and/or by using one or more vision systems. AGVs are alsotypically, but not always, designed to automatically avoid collisions,such as with other AGVs, equipment, and personnel. AGVs are commonly,but not always, used in industrial applications to move materials arounda manufacturing facility or warehouse.

“Controller” generally refers to a device, using mechanical, hydraulic,pneumatic electronic techniques, and/or a microprocessor or computer,which monitors and physically alters the operating conditions of a givendynamical system. In one nonlimiting example, the controller can includean Allen Bradley brand Programmable Logic Controller (PLC). A controllermay include a processor for performing calculations to process input oroutput. A controller may include a memory for storing values to beprocessed by the processor, or for storing the results of previousprocessing. A controller may also be configured to accept input andoutput from a wide array of input and output devices for receiving orsending values. Such devices include other computers, keyboards, mice,visual displays, printers, industrial equipment, and systems ormachinery of all types and sizes. For example, a controller can controla network or network interface to perform various network communicationsupon request. The network interface may be part of the controller, orcharacterized as separate and remote from the controller. A controllermay be a single, physical, computing device such as a desktop computer,or a laptop computer, or may be composed of multiple devices of the sametype such as a group of servers operating as one device in a networkedcluster, or a heterogeneous combination of different computing devicesoperating as one controller and linked together by a communicationnetwork. The communication network connected to the controller may alsobe connected to a wider network such as the Internet. Thus a controllermay include one or more physical processors or other computing devicesor circuitry, and may also include any suitable type of memory. Acontroller may also be a virtual computing platform having an unknown orfluctuating number of physical processors and memories or memorydevices. A controller may thus be physically located in one geographicallocation or physically spread across several widely scattered locationswith multiple processors linked together by a communication network tooperate as a single controller. Multiple controllers or computingdevices may be configured to communicate with one another or with otherdevices over wired or wireless communication links to form a network.Network communications may pass through various controllers operating asnetwork appliances such as switches, routers, firewalls or other networkdevices or interfaces before passing over other larger computer networkssuch as the Internet. Communications can also be passed over the networkas wireless data transmissions carried over electromagnetic wavesthrough transmission lines or free space. Such communications includeusing WiFi or other Wireless Local Area Network (WLAN) or a cellulartransmitter/receiver to transfer data.

“Elastic” generally refers to a solid material and/or object that iscapable of recovering size and/or shape after deformation. Elasticmaterial typically is capable of being easily stretched, expanded,and/or otherwise deformed, and once the deforming force is removed, theelastic material returns to its original shape. By way of non-limitingexamples, elastic materials include elastomers and shape memorymaterials. For instance, elastic materials can include rubber, bothnatural and synthetic, and plastics.

“End of Arm Tool” (EoAT) or “End Effector” generally refers to a deviceat the end of the robotic arm that is designed to interact with theenvironment. The nature of this interaction of the device with theenvironment depends on the application of the robotic arm. The EoAT canfor instance interact with an SKU or other environmental objects in anumber of ways. For example, the EoAT can include one or more grippers,such as impactive, ingressive, astrictive, and/or contiguitive typegrippers. Grippers typically, but not always, use some type ofmechanical force to grip objects. However, other types of interactions,such as those based on suction or magnetic force, can be used to securethe object to the EoAT. By way of non-limiting examples, the EoAT canalternatively or additionally include vacuum cups, electromagnets,Bernoulli grippers, electrostatic grippers, van der Waals grippers,capillary grippers, cryogenic grippers, ultrasonic grippers, and lasergrippers, to name just a few.

“Fastener” generally refers to a hardware device that mechanically joinsor otherwise affixes two or more objects together. By way of nonlimitingexamples, the fastener can include bolts, dowels, nails, nuts, pegs,pins, rivets, screws, and snap fasteners, to just name a few.

“Fin Gripper” generally refers an A-frame shaped robotic finger that isflexible to securely grip a wide variety of objects, including fragileand/or irregularly shaped objects. The fin gripper is configured to actin a fashion similar to how a fish fin bends. The gripper fin includesflange members joined together at an acute angle to form a V shape, andthe flanges are connected together by a series of spaced apart crossbeams or bands to from a triangle. Typically, the fin gripper is madeall or in part of deformable and/or elastic material that allows the fingripper to bend, but portions of the fin gripper can include hardmaterial. Pushing on one side of the V shape causes the fin gripper todeform in a tip portion of the fin gripper is able to bend around thegripped object. In other words, the fin gripper is able to adapt to theshape of a work piece when pressure is applied laterally. When the fingripper has a symmetrical shape about a central axis, the fin gripper isable to bend in either lateral direction. On the other hand, when thefin gripper has an asymmetrical shape, the fin gripper tends to bend inonly on direction.

“Motor” generally refers to a machine that supplies motive power for adevice with moving parts. The motor can include rotor and linear typemotors. The motor can be powered in any number of ways, such as viaelectricity, internal combustion, pneumatics, and/or hydraulic powersources. By way of non-limiting examples, the motor can include aservomotor, a pneumatic motor, a hydraulic motor, a steam engine,pneumatic piston, hydraulic piston, and/or an internal combustionengine.

“Pressure Sensor” generally refers to a device for pressure measurementof fluids, such as gases and/or liquids. Generally, the pressure sensorusually acts as a transducer by generating a signal as a function of thepressure imposed on the sensor. When the pressure sensor is anelectronic type sensor, the generated signal can include an analog ordigital signal. The pressure sensor can for example measure or detectpressure relative to a perfect vacuum, atmospheric pressure, a fixedpressure value, or a differential pressure value. By way of non-limitingexamples, pressure sensors can include absolute, gauge, vacuum,differential, and sealed type pressure sensors. The pressure sensor candetect the pressure in a wide variety of ways, such as throughcapacitive, electromagnetic, piezoelectric, strain-gauge, optical,potentiometric, resonant frequency, thermal, and/or ionizationtechniques, to name just a few.

“Robotic Arm” or “Robot Arm” generally refers to a type of mechanicalarm, usually programmable, with similar functions to a human arm. Linksof the robot arm are connected by joints allowing either rotationalmotion (such as in an articulated robot) or translational (linear)displacement. The robot arm can have multiple axes of movement. By wayof nonlimiting examples, the robot arm can be a 4, 5, 6, or 7 axis robotarm. Of course, the robot arm can have more or less axes of movement orfreedom. Typically, but not always, the end of the robot arm includes amanipulator that is called an “End of Arm Tool” (EoAT) for holding,manipulating, or otherwise interacting with the cargo items or otherobjects. The EoAT can be configured in many forms besides what is shownand described herein.

“Sensor” generally refers to an object whose purpose is to detect eventsand/or changes in the environment of the sensor, and then provide acorresponding output. Sensors include transducers that provide varioustypes of output, such as electrical and/or optical signals. By way ofnonlimiting examples, the sensors can include pressure sensors,ultrasonic sensors, humidity sensors, gas sensors, motion sensors,acceleration sensors, displacement sensors, force sensors, opticalsensors, and/or electromagnetic sensors. In some examples, the sensorsinclude barcode readers, RFID readers, and/or vision systems.

“Symmetric” or “Symmetrical” generally refers to a property of somethinghaving two sides or halves that are the same relative to one another,such as in shape, size, and/or style. In other words, symmetricdescribes something as having a mirror-image quality.

“Vacuum” generally refers to a space or state in which air or other gaspressure is significantly lower than ambient or atmospheric pressure. Avacuum can include a full vacuum in which the space is devoid of allmatter or a partial vacuum in which some gas (or other matter) is stillpresent in the space.

“Vacuum Cup” generally refers to a device or object made of elastic,flexible material having a surface that uses negative air pressure(i.e., a partial vacuum or suction) to adhere to a non-porous object.

“Vehicle” generally refers to a machine that transports people and/orcargo. Common vehicle types can include land based vehicles, amphibiousvehicles, watercraft, aircraft, and space craft. By way of non-limitingexamples, land based vehicles can include wagons, carts, scooters,bicycles, motorcycles, automobiles, buses, trucks, semi-trailers,trains, trolleys, and trams. Amphibious vehicles can for example includehovercraft and duck boats, and watercraft can include ships, boats, andsubmarines, to name just a few examples. Common forms of aircraftinclude airplanes, helicopters, autogiros, and balloons, and spacecraftfor instance can include rockets and rocket powered aircraft. Thevehicle can have numerous types of power sources. For instance, thevehicle can be powered via human propulsion, electrically powered,powered via chemical combustion, nuclear powered, and/or solar powered.The direction, velocity, and operation of the vehicle can be humancontrolled, autonomously controlled, and/or semi-autonomouslycontrolled. Examples of autonomously or semi-autonomously controlledvehicles include Automated Guided Vehicles (AGVs) and drones.

“Vision System” generally refers to one or more devices that collectdata and form one or more images by a computer and/or other electronicsto determine an appropriate position and/or to “see” an object. Thevision system typically, but not always, includes an imaging-system thatincorporates hardware and software to generally emulate functions of aneye, such as for automatic inspection and robotic guidance. In somecases, the vision system can employ one or more video cameras,Analog-to-Digital Conversion (ADC), and Digital Signal Processing (DSP)systems. By way of a non-limiting example, the vision system can includea charge-coupled device for inputting one or more images that are passedonto a processor for image processing. A vision system is generally notlimited to just the visible spectrum. Some vision systems image theenvironment at infrared (IR), visible, ultraviolet (UV), and/or X-raywavelengths. In some cases, vision systems can interpretthree-dimensional surfaces, such as through binocular cameras.

It should be noted that the singular forms “a,” “an,” “the,” and thelike as used in the description and/or the claims include the pluralforms unless expressly discussed otherwise. For example, if thespecification and/or claims refer to “a device” or “the device”, itincludes one or more of such devices.

It should be noted that directional terms, such as “up,” “down,” “top,”“bottom,” “lateral,” “longitudinal,” “radial,” “circumferential,”“horizontal,” “vertical,” etc., are used herein solely for theconvenience of the reader in order to aid in the reader's understandingof the illustrated embodiments, and it is not the intent that the use ofthese directional terms in any manner limit the described, illustrated,and/or claimed features to a specific direction and/or orientation.

Although this invention has been described in terms of certain preferredembodiments, other embodiments that are apparent to those of ordinaryskill in the art, including embodiments that do not provide all of thefeatures and advantages set forth herein, are also within the scope ofthis invention. Therefore, the scope of the present invention is definedonly by reference to the appended claims and equivalents thereof.

While the invention has been illustrated and described in detail in thedrawings and foregoing description, the same is to be considered asillustrative and not restrictive in character, it being understood thatonly the preferred embodiment has been shown and described and that allchanges, equivalents, and modifications that come within the spirit ofthe inventions defined by the following claims are desired to beprotected. All publications, patents, and patent applications cited inthis specification are herein incorporated by reference as if eachindividual publication, patent, or patent application were specificallyand individually indicated to be incorporated by reference and set forthin its entirety herein.

Reference Numbers 100 end effector 110 first finger 112 first actuatorlinkage 113 shafts 114 first port 115 cross beams 117 vacuum ports 118elastomeric pad 119 vacuum ports 120 second finger 122 second actuatorlinkage 123 shafts 124 second port 125 cross beams 127 vacuum ports 128elastomeric pad 129 vacuum ports 130 third finger 132 third actuatorlinkage 133 shafts 134 third port 135 cross beams 137 vacuum ports 138elastomeric pad 139 vacuum ports 140 hub 150 extendable vacuumprojection 160 first motor 170 second motor 200 fingers 210 proximal end211 pivot opening 214 actuator connection portion 216 first vacuum port220 distal end 224 elastomeric flare 226 second vacuum port 228elastomeric pad 230 top side 236 vacuum duct 240 bottom side 246 firstside vacuum port 250 cross beams 256 second side vacuum port 300 fingers332 semicircular portion 336 vacuum duct 400 fingers 436 vacuum duct 438check valve 456 vacuum port 500 finger 550 robotic arm 600 end effector650 robotic arm 690 vehicle 1400 end effector 1405 hub 1408 fingers 1410fin grippers 1415 actuator 1420 vacuum port 1425 vacuum cups 1430pneumatic sensor manifold 1435 controller 1440 housing 1505 palm plate1510 sensor 1705 circuit board 1710 data cable 1715 vacuum supply port1720 pressure sensors 1725 sensor cables 1730 motor 1735 gearbox 1740linkage drive 1745 linkage plate 1750 linkages 1905 drive shaft 1910drive plate 1915 guide rods 1920 end bearing bracket 1925 motor bearingbracket 2005 gears 2010 motor gear 2015 drive gear 2020 idler gear 2102hub end 2103 fingertip end 2105 contact flange 2110 exterior flange 2115cross beams 2120 hub opening 2125 linkage opening 2130 hub end flange2135 vacuum port support bracket 2140 solid tip section 2205 linkagenotch 2210 hub vacuum port opening 2305 vacuum port opening 2310fingertip port notch 2405 vacuum tube guide channel 2410 tube openings2415 tube

What is claimed is:
 1. A system, comprising: an end effector including one or more fin grippers that have one or more vacuum ports; wherein the fin grippers each include contact and exterior flanges joined together with a series of crossbeams; wherein the contact flange is configured to contact a gripped object; wherein the crossbeams are spaced apart from one another; and wherein the crossbeams are formed of an elastic material to facilitate deformation of the fin grippers during gripping.
 2. The system of claim 1, wherein the contact flange and the exterior flange form an asymmetric shape to facilitate the contact flange bending around the gripped object when gripped.
 3. The system of claim 2, wherein the contact flange is straight and the exterior flange is curved.
 4. The system of claim 1, wherein the contact and exterior flanges are joined together and extend at an acute angle from a fingertip.
 5. The system of claim 4, wherein the crossbeams each define a tube opening to form a tube guide channel between the contact and exterior flanges.
 6. The system of claim 4, wherein the fin grippers have a vacuum port support bracket at the fingertip.
 7. The system of claim 6, wherein the vacuum ports include vacuum cups.
 8. The system of claim 7, wherein the end effector includes a pneumatic sensor manifold configured to sense the vacuum applied by the vacuum cups.
 9. The system of claim 1, wherein the end effector includes an actuator configured to actuate the fin grippers.
 10. The system of claim 9, wherein the actuator includes a linkage drive and one or more linkages coupled between the fin grippers and the drive.
 11. The system of claim 10, wherein: the actuator includes a motor and a gearbox operatively connected between the motor and linkage drive; and the actuator includes a threaded drive shaft and a linkage plate threadedly connected to the drive shaft.
 12. The system of claim 1, wherein the end effector includes a hub with a palm plate to which the fin grippers are pivotally coupled.
 13. The system of claim 12, wherein: the vacuum ports include vacuum cups; and the vacuum cups include an extendable palm vacuum cup configured to extend from the palm plate.
 14. The system of claim 12, wherein: the end effector has one or more sensors coupled to the palm plate; and the sensors include a vision system sensor.
 15. The system of claim 1, wherein the fin grippers each have a fingertip end where the contact flange and the exterior flange are joined together.
 16. The system of claim 15, wherein the vacuum ports that include at least include a vacuum cup located at the fingertip end configured to secure difficult to grip objects via suction.
 17. A method, comprising: gripping a first object with fin grippers of an end effector, wherein the end effector includes one or more fin grippers that have one or more vacuum ports; wherein the fin grippers each include contact and exterior flanges joined together with a series of crossbeams; wherein the crossbeams are spaced apart from one another; wherein the crossbeams are formed of an elastic material to facilitate deformation of the fin grippers during gripping; wherein said gripping includes deforming the fin grippers to bend around the first object; wherein the crossbeams deform as the contact flange bends during the gripping; and securing a second object with vacuum ports.
 18. The method of claim 17, further comprising: releasing the first object from the fin grippers by opening the fin grippers; and releasing the second object by ceasing suction to the vacuum port.
 19. The method of claim 17, wherein said securing the second object includes applying suction to the vacuum port. 